Merge branch 'master' into 'cherry-pick-7698d9d7'

# Conflicts:
#   src/de/tud/kom/p2psim/impl/analyzer/metric/output/MetricOutputDAO.java
#   src/de/tud/kom/p2psim/impl/util/db/dao/DAO.java

src/de/tud/kom/p2psim/impl/topology/movement/RandomWaypointMovement.java

@@ -20,22 +20,13 @@
 
 package de.tud.kom.p2psim.impl.topology.movement;
 
-import java.util.List;
-import java.util.Random;
-
-import com.google.common.collect.Lists;
-
 import de.tud.kom.p2psim.api.scenario.ConfigurationException;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.waypoints.graph.Waypoint;
-import de.tud.kom.p2psim.impl.topology.waypoints.graph.WeakWaypoint;
-import de.tudarmstadt.maki.simonstrator.api.Randoms;
+import de.tud.kom.p2psim.impl.topology.waypoints.RandomWaypointGenerator;
 import de.tudarmstadt.maki.simonstrator.api.util.XMLConfigurableConstructor;
 
 public class RandomWaypointMovement extends AbstractWaypointMovementModel {
-	private Random random = Randoms
-			.getRandom(RandomWaypointMovement.class);
-	
+		
 	@XMLConfigurableConstructor({"worldX", "worldY"})
 	public RandomWaypointMovement(double worldX, double worldY) {
 		super(worldX, worldY);
@@ -46,10 +37,12 @@ public class RandomWaypointMovement extends AbstractWaypointMovementModel {
 		if (waypointModel == null) {
 			throw new ConfigurationException("SLAWMovementModel requires a valid waypoint model which hasn't been provided, cannot execute");
 		}
-
-		List<Waypoint> waypoints = Lists.newArrayList(waypointModel.getWaypoints(WeakWaypoint.class));
 		
-		nextDestination(component, waypoints.get(random.nextInt(waypoints.size())).getPosition(), 0);
+		if(!(waypointModel instanceof RandomWaypointGenerator)) {
+			throw new ConfigurationException("RandomWaypointMovement requires RandomWaypointModel generator which hasn't been provided, cannot execute");
+		}
+				
+		nextDestination(component, ((RandomWaypointGenerator)waypointModel).getRandomPoint(), 0);
 		
 	}
 

src/de/tud/kom/p2psim/impl/topology/movement/SLAWMovementModel.java

@@ -40,7 +40,7 @@ import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.api.topology.waypoints.WaypointModel;
 import de.tud.kom.p2psim.impl.scenario.simcfg2.annotations.After;
 import de.tud.kom.p2psim.impl.scenario.simcfg2.annotations.Configure;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.topology.views.VisualizationTopologyView.VisualizationInjector;
 import de.tud.kom.p2psim.impl.topology.views.VisualizationTopologyView.VisualizationInjector.DisplayString;
 import de.tud.kom.p2psim.impl.topology.waypoints.graph.StrongWaypoint;

src/de/tud/kom/p2psim/impl/topology/movement/StreetMovement.java

@@ -35,14 +35,14 @@ import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.api.topology.placement.PlacementModel;
 import de.tud.kom.p2psim.impl.simengine.Simulator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
 import de.tud.kom.p2psim.impl.topology.TopologyFactory;
 import de.tud.kom.p2psim.impl.topology.movement.modularosm.GPSCalculation;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.Binder;
 import de.tudarmstadt.maki.simonstrator.api.Event;
 import de.tudarmstadt.maki.simonstrator.api.EventHandler;
 import de.tudarmstadt.maki.simonstrator.api.Randoms;
-import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.AttractionPoint;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.IAttractionPoint;
 
 /**
  * 
@@ -64,34 +64,21 @@ public class StreetMovement implements MovementModel, EventHandler {
 
 	private Map<SimLocationActuator, PositionVector> positions = new LinkedHashMap<SimLocationActuator, PositionVector>();
 	
-	private Map<SimLocationActuator, AttractionPoint> attractionOfClients = new LinkedHashMap<SimLocationActuator, AttractionPoint>();
+	private Map<SimLocationActuator, IAttractionPoint> attractionOfClients = new LinkedHashMap<SimLocationActuator, IAttractionPoint>();
 	
-	List<AttractionPoint> attractionPoints = new LinkedList<AttractionPoint>();
+	List<IAttractionPoint> attractionPoints = new LinkedList<IAttractionPoint>();
 	
 	private boolean initialized = false;
 
 	private long timeBetweenMoveOperation = Simulator.SECOND_UNIT;
 
-	private Random rand;
+	private Random rand = Randoms.getRandom(StreetMovement.class);
+
+
 
-	private double latLeft; //Values from -90 to 90; always smaller than latRight
-	private double latRight; //Values from -90 to 90
-	private double lonLeft; //Values from -180 to 180; Always smaller than lonRight
-	private double lonRight; //Values from -180 to 180
-	
-	
 	public StreetMovement() {
 		this.worldDimensions = Binder.getComponentOrNull(Topology.class)
 				.getWorldDimensions();
-		this.rand = Randoms.getRandom(StreetMovement.class);
-		
-		latLeft = GPSCalculation.getLatLower();
-		latRight = GPSCalculation.getLatUpper();
-		lonLeft = GPSCalculation.getLonLeft();
-		lonRight = GPSCalculation.getLonRight();
-		
-		System.out.println("Scheduling first event for Init");
-		
 		// scheduling initalization!
 		Event.scheduleImmediately(this, null, EVENT_INIT);
 	}
@@ -126,10 +113,10 @@ public class StreetMovement implements MovementModel, EventHandler {
 	private void initializeStartingPosition(SimLocationActuator ms) {		
 		// set an initial attraction point
 		int index = rand.nextInt(attractionPoints.size());
-		AttractionPoint a = attractionPoints.get(index);		
+		IAttractionPoint a = attractionPoints.get(index);		
 		attractionOfClients.put(ms, a);	
 		
-		AttractionPoint b = this.returnNextOrLastAttractionPoint(index);
+		IAttractionPoint b = this.returnNextOrLastAttractionPoint(index);
 				
 		PositionVector startingPosition = this.returnRandomPositionBetweenPoints(a,b);
 		
@@ -146,18 +133,18 @@ public class StreetMovement implements MovementModel, EventHandler {
 	 * @param b Attraction Point B
 	 * @return PositionVector of a randomly selected point on the connecting line of the attraction points
 	 */
-	private PositionVector returnRandomPositionBetweenPoints(AttractionPoint a,
-			AttractionPoint b) {		
+	private PositionVector returnRandomPositionBetweenPoints(IAttractionPoint a,
+			IAttractionPoint b) {		
 		double longMin, longMax, latMin, latMax, longNew, latNew;
 		
 		// Points have different longitude, so only search for random value for longitude
-		if(a.getLongitude() != b.getLongitude()) {
-			if(a.getLongitude() < b.getLongitude()) {
-				longMin = a.getLongitude();
-				longMax = b.getLongitude();
+		if(a.getLongitudeOrX() != b.getLongitudeOrX()) {
+			if(a.getLongitudeOrX() < b.getLongitudeOrX()) {
+				longMin = a.getLongitudeOrX();
+				longMax = b.getLongitudeOrX();
 			} else {
-				longMin = b.getLongitude();
-				longMax = a.getLongitude();
+				longMin = b.getLongitudeOrX();
+				longMax = a.getLongitudeOrX();
 			}
 			
 			do {
@@ -165,17 +152,17 @@ public class StreetMovement implements MovementModel, EventHandler {
 			} while(longNew < longMin);
 			
 			assert longNew > longMin && longNew <= longMax;
-			return new PositionVector(longNew, a.getLatitude());
+			return new PositionVector(longNew, a.getLatitudeOrY());
 		}
 		
 		// Points have different latitude, so only search for random value for latitude
-		if(a.getLatitude() != b.getLatitude()) {		
-			if(a.getLatitude() < b.getLatitude()) {
-				latMin = a.getLatitude();
-				latMax = b.getLatitude();
+		if(a.getLatitudeOrY() != b.getLatitudeOrY()) {		
+			if(a.getLatitudeOrY() < b.getLatitudeOrY()) {
+				latMin = a.getLatitudeOrY();
+				latMax = b.getLatitudeOrY();
 			} else {
-				latMin = b.getLatitude();
-				latMax = a.getLatitude();
+				latMin = b.getLatitudeOrY();
+				latMax = a.getLatitudeOrY();
 			}		
 			
 			do{
@@ -183,7 +170,7 @@ public class StreetMovement implements MovementModel, EventHandler {
 			} while(latNew < latMin);
 			
 			assert latNew > latMin && latNew <= latMax;
-			return new PositionVector(a.getLongitude(), latNew);
+			return new PositionVector(a.getLongitudeOrX(), latNew);
 		}
 		
 		return null;		
@@ -199,7 +186,7 @@ public class StreetMovement implements MovementModel, EventHandler {
 	}
 
 	@Override
-	public void changeTargetLocation(SimLocationActuator actuator, AttractionPoint ap) {
+	public void changeTargetLocation(SimLocationActuator actuator, IAttractionPoint ap) {
 		/*
 		 * Set a new target AP for the current actuator
 		 */
@@ -227,7 +214,7 @@ public class StreetMovement implements MovementModel, EventHandler {
 	 * Move all nodes towards their assigned attraction point
 	 */
 	protected void move() {		
-		for (Entry<SimLocationActuator, AttractionPoint> entry : attractionOfClients.entrySet()) {
+		for (Entry<SimLocationActuator, IAttractionPoint> entry : attractionOfClients.entrySet()) {
 			
 			SimLocationActuator ms = entry.getKey();
 			PositionVector attractionCenter = (PositionVector) entry.getValue();
@@ -288,7 +275,7 @@ public class StreetMovement implements MovementModel, EventHandler {
 	 * @param index Index of the attraction point, for which another attraction point should be returned
 	 * @return Attraction Point
 	 */
-	private AttractionPoint returnNextOrLastAttractionPoint(int index) {
+	private IAttractionPoint returnNextOrLastAttractionPoint(int index) {
 		boolean updownrand = rand.nextBoolean();
 				
 		if(updownrand) {
@@ -309,11 +296,11 @@ public class StreetMovement implements MovementModel, EventHandler {
 		}
 	}
 	
-	public List<AttractionPoint> getAttractionPoints() {
+	public List<IAttractionPoint> getAttractionPoints() {
 		return attractionPoints;
 	}
 	
-	public void setAttractionPoint(AttractionPoint point) {
+	public void setAttractionPoint(IAttractionPoint point) {
 		this.attractionPoints.add(point);
 	}
 }

src/de/tud/kom/p2psim/impl/topology/movement/SumoTraceMovementModel.java

@@ -33,7 +33,7 @@ import java.util.stream.Stream;
 
 import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.Event;
 import de.tudarmstadt.maki.simonstrator.api.EventHandler;
 import de.tudarmstadt.maki.simonstrator.api.Time;

src/de/tud/kom/p2psim/impl/topology/movement/TargetMovement.java

@@ -24,7 +24,7 @@ import java.util.Set;
 
 import de.tud.kom.p2psim.api.topology.movement.MovementSupported;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 
 /**
  * The Movement Supported Components move to one Position. It is possible to set

src/de/tud/kom/p2psim/impl/topology/movement/TracefileMovementModel.java

+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of PeerfactSim.KOM.
+ * 
+ * PeerfactSim.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tud.kom.p2psim.impl.topology.movement;
+
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.util.LinkedHashMap;
+import java.util.LinkedList;
+import java.util.List;
+import java.util.Scanner;
+
+import de.tud.kom.p2psim.api.network.SimNetInterface;
+import de.tud.kom.p2psim.api.network.SimNetworkComponent;
+import de.tud.kom.p2psim.api.scenario.ConfigurationException;
+import de.tud.kom.p2psim.api.topology.movement.MovementModel;
+import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
+import de.tud.kom.p2psim.impl.topology.DefaultTopology;
+import de.tud.kom.p2psim.impl.topology.movement.modularosm.IAttractionBasedMovementAnalyzer;
+import de.tud.kom.p2psim.impl.topology.movement.modularosm.attraction.AttractionPointViz;
+import de.tud.kom.p2psim.impl.topology.movement.modularosm.attraction.IAttractionProvider;
+import de.tud.kom.p2psim.impl.topology.movement.modularosm.mapvisualization.IMapVisualization;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
+import de.tud.kom.p2psim.impl.topology.views.VisualizationTopologyView.VisualizationInjector;
+import de.tudarmstadt.maki.simonstrator.api.Event;
+import de.tudarmstadt.maki.simonstrator.api.EventHandler;
+import de.tudarmstadt.maki.simonstrator.api.Monitor;
+import de.tudarmstadt.maki.simonstrator.api.Time;
+import de.tudarmstadt.maki.simonstrator.api.component.LifecycleComponent;
+
+public class TracefileMovementModel implements MovementModel, EventHandler {
+
+	public static String tracefileFolder ="smarter/tracefiles/";
+	public static String tracefilePrefix = "smarterTraceFile-";
+	public static long GPS_MISSING_TRACE_THRESHOLD = 60;
+	
+	public static int ZERO_TO_2 = 0;
+	public static int _2_to_5 = 0;
+	public static int _5_to_10 = 0;
+	public static int TEN_TO_THIRTY = 0;
+	public static int THIRTY_TO_SIXTY = 0;
+	public static int SIXTY_TO_120 = 0;
+	public static int _120_TO_300 = 0;
+	public static int _300_TO_600 = 0;
+	public static int ABOVE_600 = 0;
+	
+	protected final int EVENT_MOVE = 1;
+	
+	protected final PositionVector DEFAULT_POSITION = new PositionVector(-1000, -1000);
+	
+	protected long timeBetweenMoveOperations;
+
+	protected IMapVisualization mapVisualization;
+	protected IAttractionProvider attractionGenerator;
+	protected AttractionPointViz attractionpointVisualization;
+	
+	protected boolean initialized = false;
+	
+	private final LinkedHashMap<SimLocationActuator, LinkedList<Step>> components;
+	private final static LinkedHashMap<SimLocationActuator, Integer> componentToStepSize =  new LinkedHashMap<SimLocationActuator, Integer>();
+	
+	private LinkedList<File> tracefiles;
+	private boolean first = true;
+	
+	public TracefileMovementModel() {
+		components = new LinkedHashMap<SimLocationActuator, LinkedList<Step>>();
+		tracefiles = new LinkedList<File>();		
+	}
+	
+	public void initialize() {
+		if(initialized) {
+			return;
+		}		
+			
+		File folder = new File(tracefileFolder);
+		if (!folder.exists()) {
+			throw new UnsupportedOperationException("Tracefile folder not found");			
+		}
+				
+		for(File tracefile : folder.listFiles()) {
+			if(tracefile.getName().contains(tracefilePrefix)) {
+				tracefiles.add(tracefile);
+			}
+		}
+		
+		if (mapVisualization != null) {
+			VisualizationInjector.injectComponent(mapVisualization);
+		}
+		
+		if (attractionpointVisualization != null) {
+			
+			attractionpointVisualization.setAttractionPoints(new LinkedList<>(attractionGenerator.getAttractionPoints()));
+			VisualizationInjector.injectComponent(attractionpointVisualization);
+		}
+		
+		initialized = true;
+						
+		Event.scheduleWithDelay(timeBetweenMoveOperations, this, null, EVENT_MOVE);
+	}
+	
+	@Override
+	public void eventOccurred(Object content, int type) {
+		if (type == EVENT_MOVE) {
+			move();
+		}
+	}
+	
+	private void move() {
+		
+		if(first) {		
+			components.forEach((component, steps) -> {					
+				shutdownComponent(component);	
+			});			
+		}		
+		
+		// as the files contain the timestamp in seconds, the current time needs to be converted in seconds
+		long currentTime = Time.getCurrentTime() / Time.SECOND;
+
+		LinkedList<SimLocationActuator> toRemove = new LinkedList<>();
+		
+		components.forEach((component, steps) -> {
+			
+			Step step = steps.peek();			
+			if (step != null) {
+				
+				if(currentTime < step.timestamp) {
+					
+					if(DefaultTopology.isWithinWorldBoundaries(component.getRealPosition())) {
+						if(currentTime + GPS_MISSING_TRACE_THRESHOLD >= step.timestamp) {
+							
+							if(component.getRealPosition().distanceTo(new PositionVector(step.x, step.y)) > GPS_MISSING_TRACE_THRESHOLD * 2) {								
+								shutdownComponent(component);
+							}							
+							// do nothing for smoothing?
+							// TODO
+							else {
+								int stepcount = componentToStepSize.get(component);
+								stepcount++;
+								componentToStepSize.put(component, stepcount);
+							}
+						}
+						else {
+							if(DefaultTopology.isWithinWorldBoundaries(component.getRealPosition())) {		
+										// TODO						
+								long delta = step.timestamp - currentTime + GPS_MISSING_TRACE_THRESHOLD;
+								
+								if(delta > 0 && delta <= 2) {
+									ZERO_TO_2++;
+								}
+								else if(delta > 2 && delta <= 5) {
+									_2_to_5++;
+								}
+								else if(delta > 5 && delta <= 10) {
+									_5_to_10++;
+								}
+								else if(delta > 10 && delta <= 30) {
+									TEN_TO_THIRTY++;
+								}
+								else if(delta > 30 && delta <= 60) {
+									THIRTY_TO_SIXTY++;
+								}
+								else if(delta > 60 && delta <= 120) {
+									SIXTY_TO_120++;
+								}
+								else if(delta > 120 && delta <= 300) {
+									_120_TO_300++;
+								}
+								else if(delta > 300 && delta <= 600) {
+									_300_TO_600++;
+								}
+								else if(delta > 600) {
+									ABOVE_600++;
+								}								
+								shutdownComponent(component);	
+							}								
+						}				
+					}									
+				}
+				else {			
+					step = steps.pop();
+
+					// TODO
+					int stepcount = componentToStepSize.get(component);
+					stepcount++;
+					componentToStepSize.put(component, stepcount);
+					
+					if(!DefaultTopology.isWithinWorldBoundaries(component.getRealPosition())) {						
+						component.updateCurrentLocation(new PositionVector(step.x, step.y));	
+						startupComponent(component);
+					}
+					else {
+						component.updateCurrentLocation(new PositionVector(step.x, step.y));	
+					}
+				}				
+			}
+			else {							
+				toRemove.add(component);
+			}
+		});
+		
+		for (SimLocationActuator simLocationActuator : toRemove) {
+			components.remove(simLocationActuator);
+			shutdownComponent(simLocationActuator);			
+		}
+		
+		Event.scheduleWithDelay(timeBetweenMoveOperations, this, null, EVENT_MOVE);
+		
+
+		if(first) {
+			// Inform analyzer of resolved movement
+			if(Monitor.hasAnalyzer(IAttractionBasedMovementAnalyzer.class)) {			
+				Monitor.getOrNull(IAttractionBasedMovementAnalyzer.class).onAllNodeInitializationCompleted(components.keySet());
+			}
+			
+			first =false;
+		}
+	}
+
+	private void shutdownComponent(SimLocationActuator node) {		
+		
+		SimNetworkComponent net = (SimNetworkComponent) node.getHost().getNetworkComponent();		
+		for (SimNetInterface netI : net.getSimNetworkInterfaces()) {
+			if (netI.isOnline()) {
+				netI.goOffline();
+			}
+		}
+	
+		try {
+			List<LifecycleComponent> comps = node.getHost().getComponents(LifecycleComponent.class);
+			
+			for (LifecycleComponent lifecycleComponent : comps) {
+				lifecycleComponent.stopComponent();
+			}
+			
+		} catch (Exception e) {
+			// TODO: handle exception
+		}
+		
+		node.updateCurrentLocation(new PositionVector(DEFAULT_POSITION));				
+		
+	}
+	
+	private void startupComponent(SimLocationActuator node) {
+		
+		SimNetworkComponent net = (SimNetworkComponent) node.getHost().getNetworkComponent();
+		
+		for (SimNetInterface netI : net.getSimNetworkInterfaces()) {
+			if (netI.isOffline()) {
+				netI.goOnline();
+			}
+		}
+		
+		try {
+			List<LifecycleComponent> comps = node.getHost().getComponents(LifecycleComponent.class);
+			
+			for (LifecycleComponent lifecycleComponent : comps) {
+				lifecycleComponent.startComponent();
+			}
+			
+		} catch (Exception e) {
+			// TODO: handle exception
+		}
+		
+		
+	}
+		
+	@Override
+	public void addComponent(SimLocationActuator actuator) {
+		if (!initialized) {
+			initialize();
+		}
+		
+		associateTracefile(actuator);
+	}
+
+	private void associateTracefile(SimLocationActuator actuator) {
+		if(tracefiles.isEmpty()) {
+			throw new UnsupportedOperationException("List of tracefiles is empty, thus cannot initiate the component!");
+		}
+		
+		if(components.containsKey(actuator)) {
+			throw new UnsupportedOperationException("Component was already assigned!");
+		}
+		
+		LinkedList<Step> stepQueue = new LinkedList<Step>(); 
+		File tracefile = tracefiles.pop();		
+		Scanner filescanner;
+		
+		try {
+			filescanner = new Scanner(tracefile);		
+						
+			while(filescanner.hasNextLine()) {
+				String line = filescanner.nextLine();
+				String[] split = line.split(" ");
+						
+				long timestamp = Long.valueOf(split[0]);
+				//double lat = Double.valueOf(split[1]);
+				//double lon = Double.valueOf(split[2]);
+				double x = Double.valueOf(split[3]);
+				double y = Double.valueOf(split[4]);
+							
+				Step s = new Step(timestamp, x, y);
+				stepQueue.add(s);				
+			}
+			
+			filescanner.close();
+		} catch (FileNotFoundException e) {
+			e.printStackTrace();
+		}
+		catch (Exception e) {
+			System.err.println(tracefile.getName());
+			e.printStackTrace();
+		}
+		
+		// System.out.println(actuator.getHost().getId() + " <> " + tracefile.getName());
+		
+		components.put(actuator, stepQueue);
+		componentToStepSize.put(actuator, 0);
+	}
+	
+	public static int getComponentStepSize(SimLocationActuator component) {
+		
+		if(!componentToStepSize.containsKey(component)) {
+			return -1;
+		}
+		
+		return componentToStepSize.get(component);
+		
+	}
+	
+	@Override
+	public void placeComponent(SimLocationActuator actuator) {		
+		// Initial placement		
+		actuator.updateCurrentLocation(new PositionVector(DEFAULT_POSITION));		
+	}
+
+	@Override
+	public void setTimeBetweenMoveOperations(long time) {
+		this.timeBetweenMoveOperations = time;		
+	}
+
+	public void setIMapVisualization(IMapVisualization mapVisualization) {
+		this.mapVisualization = mapVisualization;
+	}
+	
+	public void setAttractionPointViz(AttractionPointViz viz) {
+		this.attractionpointVisualization = viz;
+	}
+	
+	public void setIAttractionGenerator(IAttractionProvider attractionGenerator) {
+		if (attractionGenerator == null) {
+			throw new ConfigurationException(
+					"AttractionGenerator is missing in ModularMovementModel!");
+		}
+		this.attractionGenerator = attractionGenerator;
+	}
+	
+
+	private class Step {
+
+		public final double x;
+
+		public final double y;
+
+		public final long timestamp;
+
+		public Step(long timestamp, double x, double y) {
+			this.x = x;
+			this.y = y;
+			this.timestamp = timestamp;
+		}
+		
+		@Override
+		public String toString() {
+			return "Step @ " + timestamp + "s -> ("+x+", "+y+")";
+		}
+	}
+	
+}

src/de/tud/kom/p2psim/impl/topology/movement/VehicleMovementModel.java

@@ -32,9 +32,9 @@ import de.tud.kom.p2psim.api.network.SimNetInterface;
 import de.tud.kom.p2psim.api.topology.movement.MovementModel;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.impl.network.routed.RoutedNetLayer;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
 import de.tud.kom.p2psim.impl.topology.movement.vehicular.sumo.simulation.controller.traci.TraciSimulationController;
 import de.tud.kom.p2psim.impl.topology.movement.vehicular.sumo.simulation.controller.xml.XMLSimulationController;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.vehicular.DefaultVehicleInformationComponent;
 import de.tudarmstadt.maki.simonstrator.api.Event;
 import de.tudarmstadt.maki.simonstrator.api.EventHandler;
@@ -60,6 +60,8 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 
 	private static VehicleMovementModel MOVEMENT;
 
+	public static final int TIMESTEP_RATIO = 1;
+
 	private long timeBetweenMoveOperations;
 
 	private final List<SimLocationActuator> components;
@@ -75,16 +77,11 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 	private final int width;
 	private final int height;
 
-	private double scenarioWidth = 0;
-	private double scenarioHeight = 0;
-
 	private final String sumoExe;
 	private final String sumoConfigFile;
 	private final String sumoTrace;
 	private String sumoIntersections;
 
-	private final long timestepConversion = Time.SECOND;
-
 	private boolean initialized = false;
 
 	private VehicleController _controller;
@@ -92,6 +89,8 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 
 	private double _percentageOfKnownRoutes = 1;
 
+	private int _startTime;
+
 	/**
 	 * Constructor for the movement model using the sumo TraCI API
 	 * @param timeBetweenMoveOperations The time between two movement operations.
@@ -117,6 +116,27 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 		this.offsetY = Integer.parseInt(offsetY);
 		this.width = Integer.parseInt(width);
 		this.height = Integer.parseInt(height);
+
+		Thread current = Thread.currentThread();
+		Thread thread = new Thread(new Runnable() {
+
+			@Override
+			public void run() {
+				while (true) {
+					StackTraceElement[] stackTrace = current.getStackTrace();
+					System.out.println();
+					System.out.println();
+					for (int i = 0; i < stackTrace.length; i++) {
+						System.out.println(stackTrace[i]);
+					}
+					try {
+						Thread.sleep(1000);
+					} catch (InterruptedException e) {
+					}
+				}
+			}
+		});
+//		thread.start();
 	}
 
 	/**
@@ -154,6 +174,10 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 		_percentageOfKnownRoutes = pPercentageOfKnownRoutes;
 	}
 
+	public void setStartTime(long pStartTime) {
+		_startTime = (int) (pStartTime / timeBetweenMoveOperations);
+	}
+
 	public void setReuseComponents(boolean pReuseComponents) {
 		_reuseComponents = pReuseComponents;
 
@@ -215,14 +239,15 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 	protected void initializeModel() {
 		// Schedule first step
 		if (!initialized) {
-			Event.scheduleWithDelay(timeBetweenMoveOperations, this, null, 0);
+			Event.scheduleWithDelay(timeBetweenMoveOperations * TIMESTEP_RATIO, this, null, 0);
 
 			if (sumoExe != null) {
-				TraciSimulationController simulationController = TraciSimulationController.createSimulationController(sumoExe, sumoConfigFile);
+				TraciSimulationController simulationController = TraciSimulationController.createSimulationController(sumoExe, sumoConfigFile, TIMESTEP_RATIO);
 				_controller = simulationController;
 				_controller.setObservedArea(offsetX, offsetY, offsetX + width, offsetY + height);
-				_controller.init();
-				_controller.nextStep();
+				simulationController.setStartTime(_startTime);
+				_controller.init(timeBetweenMoveOperations);
+				_controller.nextStep(timeBetweenMoveOperations);
 
 				_extractor = simulationController;
 			} else {
@@ -235,15 +260,12 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 
 				_controller = simulationController;
 				_controller.setObservedArea(offsetX, offsetY, offsetX + width, offsetY + height);
-				_controller.init();
-				_controller.nextStep();
+				_controller.init(timeBetweenMoveOperations);
+				_controller.nextStep(timeBetweenMoveOperations);
 
 				_extractor = simulationController;
 			}
 
-			scenarioWidth = _extractor.getScenarioWidth();
-			scenarioHeight = _extractor.getScenarioHeight();
-
 			System.out.println("Initialization: done.");
 		}
 	}
@@ -260,10 +282,12 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 		 * simulation performance due to less recalculations in the network
 		 * models.
 		 */
-		long currentTime = Time.getCurrentTime() / timestepConversion;
+		long currentTime = Time.getCurrentTime() / timeBetweenMoveOperations;
+
+		System.out.println("Performing movement for step " + currentTime);
 
 		while (_controller.getStep() - _controller.getStart() < currentTime) {
-			if (!_controller.nextStep()) {
+			if (!_controller.nextStep(timeBetweenMoveOperations)) {
 				return;
 			}
 		}
@@ -293,7 +317,7 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 				e.printStackTrace();
 			}
 
-			component.updateCurrentLocation(new PositionVector(position.getLongitude(), position.getLatitude()));
+			component.updateCurrentLocation(new PositionVector(position.getLongitudeOrX(), position.getLatitudeOrY()));
 
 			component.setMovementSpeed(_controller.getVehicleSpeed(vehicle));
 
@@ -316,7 +340,7 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 		}
 
 		// Reschedule next step
-		Event.scheduleWithDelay(timeBetweenMoveOperations, this, null, 0);
+		Event.scheduleWithDelay(timeBetweenMoveOperations * TIMESTEP_RATIO, this, null, 0);
 	}
 
 	/**
@@ -385,7 +409,9 @@ public class VehicleMovementModel implements MovementModel, EventHandler {
 				idComponentMatcher.put(vehicle, simLocationActuator);
 				hostVehicleIDMatching.put(simLocationActuator.getHost().getId(), vehicle);
 			} else {
-				throw new RuntimeException("Unable to assign new components. Please increase node amount" + (_reuseComponents?".":" or enable the reuse of components."));
+			    if (idComponentMatcher.size() != 0) {
+			        throw new RuntimeException("Unable to assign new components. Please increase node amount" + (_reuseComponents?".":" or enable the reuse of components."));
+			    }
 			}
 		}
 		return idComponentMatcher.get(vehicle);

src/de/tud/kom/p2psim/impl/topology/waypoints/graph/PathEdgeFactory.java → src/de/tud/kom/p2psim/impl/topology/movement/aerial/AerialMovementModelFactory.java

-/*
- * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
- *
- * This file is part of PeerfactSim.KOM.
- * 
- * PeerfactSim.KOM is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * any later version.
- * 
- * PeerfactSim.KOM is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- * 
- * You should have received a copy of the GNU General Public License
- * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-package de.tud.kom.p2psim.impl.topology.waypoints.graph;
-
-import org.jgrapht.EdgeFactory;
-
-/**
- * Creates a simple Path from two given way points.
- * 
- * @author Fabio Zöllner
- * @version 1.0, 09.04.2012
- */
-public class PathEdgeFactory implements EdgeFactory<Waypoint, Path> {
-
-	@Override
-	public Path createEdge(Waypoint sourceVertex, Waypoint targetVertex) {
-		// Path uses the distance as weight by default
-		Path path = new Path(sourceVertex, targetVertex);
-		
-		return path;
-	}
-
-}
+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of PeerfactSim.KOM.
+ * 
+ * PeerfactSim.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tud.kom.p2psim.impl.topology.movement.aerial;
+
+import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
+import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
+
+/**
+ * 
+ */
+public interface AerialMovementModelFactory {
+	public UAVMovementModel createComponent(UAVTopologyComponent topologyComponent);
+}

src/de/tud/kom/p2psim/impl/topology/movement/aerial/MulticopterMovement.java

+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of PeerfactSim.KOM.
+ * 
+ * PeerfactSim.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tud.kom.p2psim.impl.topology.movement.aerial;
+
+
+import java.util.LinkedHashMap;
+import java.util.LinkedList;
+import java.util.Map;
+
+import javax.persistence.Column;
+import javax.persistence.Entity;
+import javax.persistence.Table;
+import org.apache.commons.math3.geometry.euclidean.twod.Vector2D;
+import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
+import de.tud.kom.p2psim.impl.energy.components.ActuatorComponent;
+import de.tud.kom.p2psim.impl.energy.components.StatelessActuatorComponent;
+import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
+import de.tud.kom.p2psim.impl.util.db.metric.CustomMeasurement;
+import de.tudarmstadt.maki.simonstrator.api.Time;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
+
+/**
+ * Simplified thrust-based local movement model based on the Intel Aero UAV. 
+ * 
+ * The movement logic uses only straight forward movement with the maximum speed available. 
+ * 
+ * TODO Acceleration
+ * TODO Movement model for plane-like UAVs 
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 11.09.2018
+ */
+public class MulticopterMovement implements UAVMovementModel  {
+	
+	private UAVTopologyComponent topologyComponent;
+	
+	private double currentAngleOfAttack;
+	private double velocity;
+	
+	private double targetVelocity;	
+	
+	private LinkedList<PositionVector> route = new LinkedList<>();
+	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new LinkedHashMap<>();  // TODO callback interface
+		
+	private StatelessActuatorComponent motor;
+	
+	private double mass; // kg
+	private double areaTop; // m^2
+	private double areaFront; // m^2
+	private double dragCoefficient;
+	private double maximumPitchAngleAllowed; // ° max angle
+	private double maximumDecentVelocityAllowed; // m/s
+	
+	// TODO currently not used
+	private double maximumTurnAngle; // 90° per second turn angle
+	
+	
+	public MulticopterMovement(UAVTopologyComponent topologyComponent, double massTotal, 
+			double areaTop, double areaFront, double UAVDragCoefficient, double maximumPitchAngleAllowed, 
+			double maximumDecentVelocityAllowed, double maximumTurnAngle) {
+		this.topologyComponent = topologyComponent;	
+		this.mass = massTotal;
+		this.areaTop = areaTop;
+		this.areaFront = areaFront;
+		this.dragCoefficient = UAVDragCoefficient;
+		this.maximumPitchAngleAllowed = maximumPitchAngleAllowed;
+		this.maximumDecentVelocityAllowed = maximumDecentVelocityAllowed;
+		this.maximumTurnAngle = maximumTurnAngle;
+	}
+	
+	boolean first = true;
+	
+	@Override
+	public void move(long timeBetweenMovementOperations) {
+				
+		if(motor.isOn() && !route.isEmpty()) {
+			PositionVector position = new PositionVector(topologyComponent.getRealPosition());			
+						
+			PositionVector target = route.getFirst();
+			
+			double distanceToTargetPosition = position.distanceTo(target);
+			
+			
+			// If target point is reached within a 1 meter margin, we remove that point from the list 
+			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < velocity)
+			{						
+				target = route.removeFirst();
+								
+				if(route.isEmpty()) {	
+					
+					// go to hover mode					
+					topologyComponent.updateCurrentLocation(target.clone()); 
+					
+					velocity = 0;					
+					motor.requestThrust(hoverThrustRequired());
+					
+					PositionVector direction = topologyComponent.getCurrentDirection().clone();
+					direction.setEntry(2, 0);
+					topologyComponent.updateCurrentDirection(direction);
+					
+					locationReached(topologyComponent.getCurrentLocation());
+					return;
+				}
+				else {
+					
+					// get to speed	
+					if(targetVelocity > 0 && targetVelocity < getHorizontalMaxVelocity()) {
+						motor.requestThrust(estimateRequiredThrust(targetVelocity));
+						velocity = targetVelocity;
+					}
+					else {
+						motor.requestThrust(getHorizontalMaxVelocityRequiredTotalThrust());
+						velocity = getHorizontalMaxVelocity();
+					}							
+			
+					long timeUntilReachedLocation = (long) (distanceToTargetPosition / velocity) * Time.SECOND;
+					
+					target = route.getFirst();					
+					PositionVector directionToTarget = new PositionVector(target);
+					directionToTarget.subtract(position);
+					
+					double timefactor = timeUntilReachedLocation / Time.SECOND;
+					
+					directionToTarget.normalize();
+					topologyComponent.updateCurrentDirection(directionToTarget.clone());
+					directionToTarget.multiplyScalar(velocity * timefactor);
+					
+					PositionVector newPosition = new PositionVector(position);
+					newPosition.add(directionToTarget);		
+					
+					topologyComponent.updateCurrentLocation(newPosition);
+					
+					if(timeUntilReachedLocation < timeBetweenMovementOperations) {
+						this.move(timeBetweenMovementOperations - timeUntilReachedLocation);					
+					}
+					
+				}			
+				
+			}
+			else {
+				double timefactor = timeBetweenMovementOperations / Time.SECOND;
+				
+				// get to speed	
+				if(targetVelocity > 0 && targetVelocity < getHorizontalMaxVelocity()) {
+					motor.requestThrust(estimateRequiredThrust(targetVelocity));
+					velocity = targetVelocity;
+				}
+				else {
+					motor.requestThrust(getHorizontalMaxVelocityRequiredTotalThrust());
+					velocity = getHorizontalMaxVelocity();
+				}				
+				
+				PositionVector directionToTarget = new PositionVector(target);
+				directionToTarget.subtract(position);
+				
+				directionToTarget.normalize();
+				
+				if(directionToTarget.getX() != 0 || directionToTarget.getY() != 0) {
+					topologyComponent.updateCurrentDirection(directionToTarget.clone());
+				}				
+				
+				directionToTarget.multiplyScalar(velocity * timefactor);
+
+				PositionVector newPosition = new PositionVector(position);
+				newPosition.add(directionToTarget);		
+				
+				topologyComponent.updateCurrentLocation(newPosition);
+			}
+			
+		}
+		else if(motor.isOn()) {
+			
+			if(velocity != 0) {
+				throw new UnsupportedOperationException("no route but speed not 0?");
+			}
+			
+			PositionVector position = new PositionVector(topologyComponent.getRealPosition());	
+			
+			if(position.getAltitude() == 0) {
+				motor.requestThrust(0);
+			}
+			else {
+				motor.requestThrust(hoverThrustRequired());
+			}
+		}
+	}
+	
+	/*
+	 * 
+	 */
+	
+	protected double verticalDescentMaxThrust() {		
+		// m * g - 0.5 * p * C * A * v^2
+		return hoverThrustRequired() - 0.5 * bodyDrag(0, new PositionVector(0,0,1)) * maximumDecentVelocityAllowed * maximumDecentVelocityAllowed;
+	}
+	
+	protected double verticalAscentMaxAcceleration() {
+		return (motor.getMaxThrust() - hoverThrustRequired()) / mass;
+	}
+	
+	@Override
+	public double getVerticalAscentMaxVelocity() {		
+		double maxThrust = motor.getMaxThrust();		
+		return Math.sqrt(2.0 * (maxThrust - hoverThrustRequired()) / bodyDrag(0, new PositionVector(0,0,1)));		
+	}
+	
+	
+	protected double hoverThrustRequired()  {		
+		return mass * GRAVITY;		
+	}
+	
+	@Override
+	public double getHorizontalMaxVelocity() {
+		
+		double horizontalThrust = getHorizontalComponentMaxThrust();
+				
+		double maxVelocity = Math.sqrt( (2.0 * horizontalThrust) / bodyDrag(maximumPitchAngleAllowed, new PositionVector(1,0,0)));
+				
+		return maxVelocity;
+	}
+	
+	protected double getHorizontalComponentMaxThrust() {
+		
+		// hoverthrust / cos => amount of thrust in horizonal direction with °angle		
+		double stableAltitudeMaximumTotalThrust = getHorizontalMaxVelocityRequiredTotalThrust();
+	
+		// fraction of total thrust in horizonal (forward) direction with °angle
+		double maximumHorizontalThrustStableAltitude = stableAltitudeMaximumTotalThrust * Math.sin(maximumPitchAngleAllowed);
+		
+		return maximumHorizontalThrustStableAltitude;
+	}
+
+	protected double getHorizontalMaxVelocityRequiredTotalThrust() {
+		return hoverThrustRequired() / Math.cos(maximumPitchAngleAllowed);
+	}
+	
+	protected double bodyDrag(double angleRadians, PositionVector direction) {
+		return AIRDENSITY * dragCoefficient * areaExposedToDrag(angleRadians, direction);
+	}
+	
+	protected double areaExposedToDrag(double angleRadians, PositionVector direction) {
+			
+		Vector2D v = new Vector2D(Math.abs(direction.getX()) + Math.abs(direction.getY()), Math.abs(direction.getZ()));
+		v = v.normalize();
+		
+		double areaExposedFront = v.getX() * (Math.sin(angleRadians) * areaTop + Math.cos(angleRadians) * areaFront );
+		double areaExposedTop = v.getY() * (Math.cos(angleRadians) * areaTop + Math.sin(angleRadians) * areaFront);
+		
+		return areaExposedFront + areaExposedTop;
+	}
+	
+	/*
+	 * F_drag [N] = 0.5 * p * C_drag * A * v^2
+	 */
+	protected double currentDrag() {
+		return 0.5 * bodyDrag(currentAngleOfAttack, topologyComponent.getCurrentDirection()) * velocity * velocity;
+	}
+	
+	/**
+	 * Calculate the drag induced on the UAV with a given velocity and an angle of attack (in radians) moving forward horizontally.
+	 * 
+	 * @param velocity
+	 * @param angleInRadians
+	 * @return
+	 */
+	protected double forwardDrag(double velocity, double angleInRadians) {
+		return 0.5 * bodyDrag(angleInRadians, new PositionVector(1,0,0)) * velocity * velocity;
+	}
+	
+	
+	/*
+	 *
+	 */
+	
+	@Override
+	public void setMotorControl(ActuatorComponent motor) {
+		this.motor = (StatelessActuatorComponent) motor;	
+	}
+	
+	@Override
+	public void setTargetVelocity(double v_pref) {
+		this.targetVelocity = v_pref;		
+	}
+	
+	@Override
+	public double getCurrentVelocity() {
+		return velocity;
+	}
+
+	/**
+	 * Trigger the callback function, if there is a valid callback 
+	 * 
+	 * @param position
+	 */
+	private void locationReached(PositionVector position) {
+		if(locationCallbacks.containsKey(position)) {
+			locationCallbacks.get(position).reachedLocation();
+		}
+	}
+	
+	@Override
+	public void setTargetLocation(PositionVector target,
+			ReachedLocationCallback reachedLocationCallback) {
+		route.clear();
+		route.add(target);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(target, reachedLocationCallback);
+		
+	}
+
+	@Override
+	public void setTargetLocationRoute(LinkedList<PositionVector> route,
+			ReachedLocationCallback reachedLocationCallback) {
+		this.route.clear();
+		this.route.addAll(route);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(route.getLast(), reachedLocationCallback);
+	}
+
+	@Override
+	public void addTargetLocation(PositionVector target,
+			ReachedLocationCallback reachedLocationCallback) {
+		route.add(target);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(target, reachedLocationCallback);
+	}
+
+	@Override
+	public LinkedList<PositionVector> getTargetLocations() {
+		
+		LinkedList<PositionVector> copy = new LinkedList<>();
+		for (PositionVector pv : route) {
+			copy.add(pv.clone());		
+		}
+		
+		return copy;
+	}
+
+	@Override
+	public void removeTargetLocations() {
+		route.clear();
+		locationCallbacks.clear();
+	}	
+
+	@Override
+	public double getHorizontalMinVelocity() {
+		return Math.sqrt(2 * hoverThrustRequired() * Math.tan(Math.toRadians(0.25)) / bodyDrag(Math.toRadians(0.25), new PositionVector(1,0,0)));
+	}
+
+	@Override
+	public double estimatePowerConsumptionWatt(double velocity) {
+		
+		if(velocity == 0) {
+			return motor.estimatePowerConsumptionWatt(hoverThrustRequired());
+		}
+		else if(velocity > getHorizontalMaxVelocity()) {
+			return -1;
+		}
+		else if(velocity < getHorizontalMinVelocity()) {
+			return -1;
+		}
+		else {			
+			
+			double requiredThrust = estimateRequiredThrust(velocity);
+			double wattage = motor.estimatePowerConsumptionWatt(requiredThrust);		
+			return wattage;
+		}				
+	}
+	
+	protected double estimateRequiredThrust(double velocity) {
+		if(velocity == 0) {
+			return motor.estimatePowerConsumptionWatt(hoverThrustRequired());
+		}
+		else if(velocity > getHorizontalMaxVelocity()) {
+			return -1;
+		}
+		else if(velocity < getHorizontalMinVelocity()) {
+			return -1;
+		}
+		else {
+			double estimateAngle = estimatePitchAngleForVelocity(velocity);
+			double estimatedDrag = forwardDrag(velocity, estimateAngle);					
+			double requiredThrust = Math.sqrt(hoverThrustRequired() * hoverThrustRequired() + estimatedDrag * estimatedDrag);
+			return requiredThrust;
+		}
+	}
+	
+	/**
+	 * Estimate the pitch angle (angle of attack) required to get the target velocity. 
+	 * Angle precision is 1/4 degree. 
+	 * 
+	 * @param velocity
+	 * @return
+	 */
+	protected double estimatePitchAngleForVelocity(double velocity) {
+		
+		int low = 0;
+		int high = Integer.MAX_VALUE;
+		
+		double vsquared = (velocity * velocity);
+		
+		for(int i = 0; i <= ((int) Math.toDegrees(maximumPitchAngleAllowed)); i++) {
+			
+			double v2 = 2 * hoverThrustRequired() * Math.tan(Math.toRadians(i)) / bodyDrag(Math.toRadians(i), new PositionVector(1,0,0));
+						
+			if(v2 > vsquared && i < high) {				
+				high = i;
+			}
+			else if(v2 < vsquared && i >= low) {
+				low = i;				
+			}
+			else if(v2 == vsquared ) {
+				return Math.toRadians(i);
+			}
+			
+		}
+		
+		if(high < Integer.MAX_VALUE) {
+			double lo = low;
+			double hi = high;
+			
+			double nearest = -1;
+			double nearestDiff = Double.MAX_VALUE;
+			
+			double step = (hi - lo) / 4;
+			
+			for(int i = 0; i < 4; i++) {
+			
+				double d = lo + i * step;
+				
+				double v2 = 2 * hoverThrustRequired() * Math.tan(Math.toRadians(d)) / bodyDrag(Math.toRadians(d), new PositionVector(1,0,0));
+				
+				double diff = Math.abs(((velocity * velocity) - v2));
+				
+				if(diff < nearestDiff || (lo == 0 && i == 1)) {
+					nearestDiff = diff;
+					nearest = d;
+				}			
+			}
+				
+			return Math.toRadians(nearest);
+		}
+			
+		return maximumPitchAngleAllowed;	
+	}	
+	
+	/**
+	 * Factory for this movement model
+	 * 
+	 * @author Julian Zobel
+	 * @version 1.0, 14.01.2020
+	 */
+	public static class Factory implements AerialMovementModelFactory {
+		
+		private double massTotal = 1.465; // kg		
+		private double areaTop = 0.245; // m^2
+		private double areaFront = 0.1; // m^2
+		private double UAVDragCoefficient = 0.7;
+		private double maximumPitchAngleAllowed = Math.toRadians(60); // ° max angle
+		private double maximumDecentVelocityAllowed = 5; // m/s
+		private double maximumTurnAngle = Math.toRadians(90); // 90° per second turn angle
+		
+		public void setMassTotal(double massTotal) {
+			this.massTotal = massTotal;
+		}
+
+		public void setAreaTop(double areaTop) {
+			this.areaTop = areaTop;
+		}
+
+		public void setAreaFront(double areaFront) {
+			this.areaFront = areaFront;
+		}
+
+		public void setUAVDragCoefficient(double uAVDragCoefficient) {
+			UAVDragCoefficient = uAVDragCoefficient;
+		}
+
+		public void setMaximumPitchAngleAllowed(double maximumPitchAngleAllowed) {
+			this.maximumPitchAngleAllowed = Math.toRadians(maximumPitchAngleAllowed);
+		}
+
+		public void setMaximumDecentVelocityAllowed(
+				double maximumDecentVelocityAllowed) {
+			this.maximumDecentVelocityAllowed = maximumDecentVelocityAllowed;
+		}
+
+		public void setMaximumTurnAngle(double maximumTurnAngle) {
+			this.maximumTurnAngle = Math.toRadians(maximumTurnAngle);
+		}
+
+		public UAVMovementModel createComponent(UAVTopologyComponent topologyComponent) {
+			return new MulticopterMovement(topologyComponent, massTotal, areaTop, areaFront, 
+					UAVDragCoefficient, maximumPitchAngleAllowed, maximumDecentVelocityAllowed, maximumTurnAngle);
+		}		
+	}
+	
+	// For evaluation only!
+	@Entity
+	@Table(name = "energyModel")
+	public static class EnergyModelPropertyMeasurement extends CustomMeasurement {
+
+		/*
+		 * For DB performance reasons, we only store up to 15 characters of the
+		 * topic (longer topics are truncated)
+		 */
+		@Column(nullable = false, name = "[velocity]")
+		final float velocity;
+
+		@Column(nullable = false, name = "[thrust]")
+		final float thrust;
+
+		@Column(nullable = false, name = "[ampere]")
+		final float ampere;
+
+		@Column(nullable = false, name = "[watt]")
+		final float watt;
+
+		@Column(nullable = false, name = "[wattPerMeter]")
+		final float wattperdistance;
+
+
+		public EnergyModelPropertyMeasurement(double velocity, double thrust, double ampere, double watt) {
+			/*
+			 * Store all relevant fields
+			 */
+			this.velocity = (float) velocity;
+			this.thrust = (float) thrust;
+			this.ampere = (float) ampere;
+			this.watt = (float) watt;
+
+			if (velocity == 0) {
+				this.wattperdistance = -1;
+			} else
+				this.wattperdistance = this.watt / this.velocity;
+
+		}
+		
+		public static EnergyModelPropertyMeasurement getPropoertyMeasurement(MulticopterMovement m, double velocity) {
+			
+			double th = m.estimateRequiredThrust(velocity);
+
+			if (th == -1) {
+				return null;
+			}
+
+			double w = m.estimatePowerConsumptionWatt(velocity);
+			double amp = w / 14.8;
+			
+			return new EnergyModelPropertyMeasurement(velocity, th, amp, w);
+		}
+
+	}
+
+}

src/de/tud/kom/p2psim/impl/topology/movement/aerial/SimpleMulticopterMovement.java

+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of PeerfactSim.KOM.
+ * 
+ * PeerfactSim.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tud.kom.p2psim.impl.topology.movement.aerial;
+
+
+import java.util.LinkedHashMap;
+import java.util.LinkedList;
+import java.util.Map;
+import de.tud.kom.p2psim.api.topology.movement.UAVMovementModel;
+import de.tud.kom.p2psim.impl.energy.components.ActuatorComponent;
+import de.tud.kom.p2psim.impl.energy.components.StatefulActuatorComponent;
+import de.tud.kom.p2psim.impl.topology.component.UAVTopologyComponent;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
+import de.tudarmstadt.maki.simonstrator.api.Time;
+import de.tudarmstadt.maki.simonstrator.api.uavsupport.callbacks.ReachedLocationCallback;
+
+/**
+ * Local movement for UAVs. 
+ * This simple movement logic uses straight forward movement with the set speed (up to a max).
+ * Energy consumption is based on state actuators.
+ * 
+ * @author Julian Zobel
+ * @version 1.1, 14.01.2020
+ */
+public class SimpleMulticopterMovement implements UAVMovementModel  {
+
+	private UAVTopologyComponent topologyComponent;	
+	private double velocity;	
+	private double targetVelocity;
+	
+	private double maximumHorizontalVelocity;
+	private double maximumVerticalVelocity;
+	
+	// TODO currently not used
+	private double minimumHorizontalVelocity;
+	private double minimumVerticalVelocity;
+	
+	private LinkedList<PositionVector> route = new LinkedList<>();
+	private Map<PositionVector, ReachedLocationCallback> locationCallbacks = new LinkedHashMap<>();  
+		
+	private StatefulActuatorComponent motor;
+		
+	public SimpleMulticopterMovement(UAVTopologyComponent topologyComponent, double maximumHorizontalVelocity, 
+			double maximumVerticalVelocity, double minimumHorizontalVelocity, double minimumVerticalVelocity) {
+		this.topologyComponent = topologyComponent;		
+		this.maximumHorizontalVelocity = maximumHorizontalVelocity;
+		this.maximumVerticalVelocity = maximumVerticalVelocity;
+		this.minimumHorizontalVelocity = minimumHorizontalVelocity;
+		this.minimumVerticalVelocity = minimumVerticalVelocity;
+	}	
+	
+	@Override
+	public void move(long timeBetweenMovementOperations) {
+				
+		if(motor.isOn() && !route.isEmpty()) {		
+		
+			PositionVector currentPosition = topologyComponent.getRealPosition();
+			
+			PositionVector targetPosition = route.getFirst();
+			Double distanceToTargetPosition = targetPosition.distanceTo(currentPosition);
+							
+			// If target point is reached within a 1 meter margin, we remove that point from the list 
+			if(distanceToTargetPosition < 0.1 || distanceToTargetPosition < velocity)
+			{						
+				route.removeFirst();
+				
+				topologyComponent.updateCurrentLocation(targetPosition); // triggers energy consumption for last distance
+				velocity = 0;
+				motor.useActuator(0);
+				locationReached(targetPosition);
+				return;
+			}
+			
+			double timefactor = timeBetweenMovementOperations / Time.SECOND;
+			
+			velocity = Math.min(distanceToTargetPosition, targetVelocity);					
+						
+			PositionVector direction = new PositionVector(targetPosition);
+			direction.subtract(currentPosition);
+			direction.normalize();
+			direction.multiplyScalar(velocity * timefactor);
+
+			PositionVector newPosition = new PositionVector(currentPosition);
+			newPosition.add(direction);		
+			
+			motor.useActuator(1);
+			topologyComponent.updateCurrentLocation(newPosition);					
+		}
+		else if(motor.isOn()) {
+			
+			if(velocity != 0) {
+				throw new UnsupportedOperationException("no route but speed not 0?");
+			}
+			
+			PositionVector position = new PositionVector(topologyComponent.getRealPosition());	
+			
+			if(position.getAltitude() == 0) {
+				motor.turnOff();
+			}
+			else {
+				motor.useActuator(0);
+			}
+		}
+	}
+		
+	@Override
+	public void setTargetVelocity(double v_pref) {
+		this.targetVelocity = v_pref;		
+	}
+	
+	@Override
+	public double getCurrentVelocity() {
+		return velocity;
+	}
+
+	/**
+	 * Trigger the callback function, if there is a valid callback 
+	 * 
+	 * @param position
+	 */
+	private void locationReached(PositionVector position) {
+		if(locationCallbacks.containsKey(position)) {
+			locationCallbacks.get(position).reachedLocation();
+		}
+	}
+	
+	@Override
+	public void setTargetLocation(PositionVector target,
+			ReachedLocationCallback reachedLocationCallback) {
+		route.clear();
+		route.add(target);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(target, reachedLocationCallback);
+		
+	}
+
+	@Override
+	public void setTargetLocationRoute(LinkedList<PositionVector> route,
+			ReachedLocationCallback reachedLocationCallback) {
+		this.route.clear();
+		this.route.addAll(route);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(route.getLast(), reachedLocationCallback);
+	}
+
+	@Override
+	public void addTargetLocation(PositionVector target,
+			ReachedLocationCallback reachedLocationCallback) {
+		route.add(target);
+		if(reachedLocationCallback != null)
+			locationCallbacks.put(target, reachedLocationCallback);
+	}
+
+	@Override
+	public LinkedList<PositionVector> getTargetLocations() {
+		
+		LinkedList<PositionVector> copy = new LinkedList<>();
+		for (PositionVector pv : route) {
+			copy.add(pv.clone());		
+		}
+		
+		return copy;
+	}
+
+	@Override
+	public void removeTargetLocations() {
+		route.clear();
+		locationCallbacks.clear();
+	}
+
+	@Override
+	public double estimatePowerConsumptionWatt(double velocity) {
+		
+		double wattage = 0;
+		
+		if(velocity == 0) {
+			wattage = motor.estimateEnergyConsumptionWatt(0);
+		}
+		else { 		
+			wattage = motor.estimateEnergyConsumptionWatt(1.0);
+		}
+		
+		return wattage;
+	}
+
+	@Override
+	public void setMotorControl(ActuatorComponent motor) {
+		this.motor = (StatefulActuatorComponent) motor;
+	}
+
+	@Override
+	public double getVerticalAscentMaxVelocity() {
+		return maximumVerticalVelocity;
+	}
+
+	@Override
+	public double getHorizontalMaxVelocity() {
+		return maximumHorizontalVelocity;
+	}
+	
+	@Override	
+	public double getHorizontalMinVelocity() {
+		return 0;
+	}
+	
+	/**
+	 * Factory for this movement model
+	 * 
+	 * @author Julian Zobel
+	 * @version 1.0, 14.01.2020
+	 */
+	public static class Factory implements AerialMovementModelFactory {
+		
+		private double maximumHorizontalVelocity = 15;
+		
+		public void setMaximumHorizontalVelocity(double maximumHorizontalVelocity) {
+			this.maximumHorizontalVelocity = maximumHorizontalVelocity;
+		}
+
+		private double maximumVerticalVelocity = 5;		
+		
+		public void setMaximumVerticalVelocity(double maximumVerticalVelocity) {
+			this.maximumVerticalVelocity = maximumVerticalVelocity;
+		}
+		
+		private double minimumHorizontalVelocity = 15;
+		
+		public void setMinimumHorizontalVelocity(double minimumHorizontalVelocity) {
+			this.minimumHorizontalVelocity = minimumHorizontalVelocity;
+		}
+		
+		private double minimumVerticalVelocity = 5;		
+		
+		public void setMinimumVerticalVelocity(double minimumVerticalVelocity) {
+			this.minimumVerticalVelocity = minimumVerticalVelocity;
+		}
+		
+		public UAVMovementModel createComponent(UAVTopologyComponent topologyComponent) {
+			return new SimpleMulticopterMovement(topologyComponent, maximumHorizontalVelocity, 
+					maximumVerticalVelocity, minimumHorizontalVelocity, minimumVerticalVelocity);
+		}			
+	}
+}

src/de/tud/kom/p2psim/impl/topology/waypoints/graph/DefaultWeightedEdgeRetrievableGraph.java → src/de/tud/kom/p2psim/impl/topology/movement/aerial/UAVMovement.java

-/*
- * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
- *
- * This file is part of PeerfactSim.KOM.
- * 
- * PeerfactSim.KOM is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * any later version.
- * 
- * PeerfactSim.KOM is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- * 
- * You should have received a copy of the GNU General Public License
- * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-package de.tud.kom.p2psim.impl.topology.waypoints.graph;
-
-import java.util.Set;
-import java.util.WeakHashMap;
-
-import org.jgrapht.EdgeFactory;
-import org.jgrapht.graph.SimpleWeightedGraph;
-
-/**
- * The simple weighted edge retrievable graph caches the edges
- * for later batch retrieval.
- * 
- * It uses the WeakHashMap to avoid unintentional references to
- * dead objects.
- * 
- * @author Fabio Zöllner
- * @version 1.0, 27.03.2012
- * @param <V> Vertices
- * @param <E> Edges
- */
-public class DefaultWeightedEdgeRetrievableGraph<V, E> extends SimpleWeightedGraph<V, E> {
-	private WeakHashMap<E, Object> edgeMap = new WeakHashMap<E, Object>();
-	
-	@SuppressWarnings("unchecked")
-	public DefaultWeightedEdgeRetrievableGraph(EdgeFactory edgefactory) {
-        super(edgefactory);
-    }
-
-    @SuppressWarnings("unchecked")
-	public DefaultWeightedEdgeRetrievableGraph(Class class1) {
-    	super(class1);
-    }
-    
-    /**
-     * Add an edge to the graph by specifying the
-     * start and end vertex.
-     */
-    public E addEdge(V v1, V v2) {
-        E e = getEdgeFactory().createEdge(v1, v2);
-        addEdge(v1, v2, e);
-        
-        return e;
-    }
-
-    /**
-     * Add an edge to the graph by specifying the
-     * start and end vertex as well as the edge
-     * that is connecting the two.
-     */
-    public boolean addEdge(V v1, V v2, E e) {
-    	edgeMap.put(e, null);
-    	
-    	return super.addEdge(v1, v2, e);
-    }
-    
-    /**
-     * Returns the set of all edges in the graph.
-     * 
-     * @return
-     */
-    public Set<E> getAllEdges() {
-    	return edgeMap.keySet();
-    }
-}
+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of PeerfactSim.KOM.
+ * 
+ * PeerfactSim.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tud.kom.p2psim.impl.topology.movement.aerial;
+
+import java.util.LinkedList;
+import java.util.List;
+
+import de.tud.kom.p2psim.api.topology.movement.MovementModel;
+import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
+import de.tud.kom.p2psim.api.topology.movement.SimUAVLocationActuator;
+import de.tudarmstadt.maki.simonstrator.api.Event;
+import de.tudarmstadt.maki.simonstrator.api.EventHandler;
+import de.tudarmstadt.maki.simonstrator.api.Time;
+
+/**
+ * Movement model container for all UAVs. This primarily triggers the local movement models of the respective UAVs. 
+ * 
+ * @author Julian Zobel
+ * @version 1.0, 6 Sep 2018
+ */
+public class UAVMovement implements MovementModel, EventHandler {
+
+	private List<SimUAVLocationActuator> actuators = new LinkedList<>();
+	protected long timeBetweenMoveOperation = Time.SECOND;
+	
+	public UAVMovement() {
+		Event.scheduleImmediately(this, null, 0);
+	}
+	
+	@Override
+	public void addComponent(SimLocationActuator actuator) {
+		if(!actuators.contains(actuator) && actuator instanceof SimUAVLocationActuator)
+			actuators.add((SimUAVLocationActuator) actuator);		
+	}
+
+	@Override
+	public void placeComponent(SimLocationActuator actuator) {
+		//
+	}
+
+	@Override
+	public void setTimeBetweenMoveOperations(long time) {
+		this.timeBetweenMoveOperation = time;		
+	}
+
+	@Override
+	public void eventOccurred(Object content, int type) {
+		this.triggerComponentMovement();		
+	}
+	
+	private void triggerComponentMovement() {
+		for (SimUAVLocationActuator actuator : actuators) {
+			actuator.getUAVMovement().move(timeBetweenMoveOperation);
+		}
+		
+		Event.scheduleWithDelay(timeBetweenMoveOperation, this, null, 1);
+	}
+
+	
+}

src/de/tud/kom/p2psim/impl/topology/movement/local/AbstractLocalMovementStrategy.java

@@ -24,7 +24,7 @@ import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
 import de.tud.kom.p2psim.api.topology.movement.local.LocalMovementStrategy;
 import de.tud.kom.p2psim.api.topology.obstacles.ObstacleModel;
 import de.tud.kom.p2psim.api.topology.waypoints.WaypointModel;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.util.Either;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.route.RouteSensor;
 

src/de/tud/kom/p2psim/impl/topology/movement/local/LinearMovement.java

@@ -21,7 +21,7 @@
 package de.tud.kom.p2psim.impl.topology.movement.local;
 
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.util.Either;
 import de.tud.kom.p2psim.impl.util.Left;
 

src/de/tud/kom/p2psim/impl/topology/movement/local/OnlineMapQuestMovement.java

@@ -37,8 +37,8 @@ import com.graphhopper.util.shapes.GHPoint3D;
 
 import de.tud.kom.p2psim.api.topology.Topology;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
 import de.tud.kom.p2psim.impl.topology.movement.modularosm.GPSCalculation;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.util.Either;
 import de.tud.kom.p2psim.impl.util.Left;
 import de.tudarmstadt.maki.simonstrator.api.Binder;

src/de/tud/kom/p2psim/impl/topology/movement/local/RealWorldStreetsMovement.java

@@ -26,35 +26,44 @@ import java.util.LinkedList;
 import java.util.List;
 import java.util.Locale;
 import java.util.Map;
+import java.util.Random;
 import java.util.UUID;
 
 import com.graphhopper.GHRequest;
 import com.graphhopper.GHResponse;
 import com.graphhopper.GraphHopper;
 import com.graphhopper.PathWrapper;
+import com.graphhopper.reader.osm.GraphHopperOSM;
 import com.graphhopper.routing.util.EdgeFilter;
 import com.graphhopper.routing.util.EncodingManager;
 import com.graphhopper.routing.util.TraversalMode;
+import com.graphhopper.routing.weighting.BlockAreaWeighting;
 import com.graphhopper.storage.index.LocationIndex;
 import com.graphhopper.storage.index.QueryResult;
 import com.graphhopper.util.DistanceCalc2D;
 import com.graphhopper.util.EdgeIteratorState;
 import com.graphhopper.util.Instruction;
 import com.graphhopper.util.InstructionList;
+import com.graphhopper.util.Parameters;
+import com.graphhopper.util.Parameters.Routing;
 import com.graphhopper.util.PointList;
 import com.graphhopper.util.shapes.GHPoint;
 
 import de.tud.kom.p2psim.api.topology.Topology;
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
 import de.tud.kom.p2psim.impl.topology.movement.modularosm.GPSCalculation;
+import de.tud.kom.p2psim.impl.topology.movement.modularosm.ModularMovementModelViz;
 import de.tud.kom.p2psim.impl.topology.movement.modularosm.RouteSensorComponent;
+import de.tud.kom.p2psim.impl.topology.movement.modularosm.attraction.RandomAttractionGenerator;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.util.Either;
 import de.tud.kom.p2psim.impl.util.Left;
 import de.tudarmstadt.maki.simonstrator.api.Binder;
 import de.tudarmstadt.maki.simonstrator.api.Monitor;
+import de.tudarmstadt.maki.simonstrator.api.Randoms;
 import de.tudarmstadt.maki.simonstrator.api.Monitor.Level;
 import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableException;
+import de.tudarmstadt.maki.simonstrator.api.util.XMLConfigurableConstructor;
 
 /**
  * This movement strategy uses the data from osm and navigates the nodes throught streets to the destination
@@ -64,9 +73,20 @@ import de.tudarmstadt.maki.simonstrator.api.component.ComponentNotAvailableExcep
  * 
  * @author Martin Hellwig
  * @version 1.0, 07.07.2015
+ * 
+ * - added a possibility to allow the usage of alternative routes
+ * - set the probability for this alternatives
+ * - allow a dynamic reload of graphhopper files when switching routing algorithms
+ * - allow to define blocked areas, that are not used for routing
+ * 
+ * @author Julian Zobel
+ * @version 02.04.2020
+ *  
  */
 public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 	
+	private Random random = Randoms.getRandom(RealWorldStreetsMovement.class);
+	
 	private static PositionVector worldDimensions;
 	private GraphHopper hopper;
 	private LocationIndex index;
@@ -81,11 +101,15 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 	private String movementType; //car, bike or foot
 	private String defaultMovement;
 	private String navigationalType; //fastest,
+	private String blockedAreas; // default null
 	private static double latLower; //Values from -90 to 90; always smaller than latUpper
 	private static double latUpper; //Values from -90 to 90
 	private static double lonLeft; //Values from -180 to 180; Always smaller than lonRight
 	private static double lonRight; //Values from -180 to 180
 	private boolean uniqueFolders;
+	
+	private boolean allowAlternativeRoutes = false;
+	private double probabilityForAlternativeRoute = 0.0;
 
 	/**
 	 * Tolerance in meters (if the node reached a waypoint up to "tolerance"
@@ -93,6 +117,12 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 	 */
 	private double tolerance = 1;
 
+	@XMLConfigurableConstructor({"blockedAreas"})
+	public RealWorldStreetsMovement(String blockedAreas) {
+		this();
+		this.setBlockedAreas(blockedAreas);
+	}
+	
 	public RealWorldStreetsMovement() {
 		worldDimensions = Binder.getComponentOrNull(Topology.class)
 				.getWorldDimensions();
@@ -100,13 +130,12 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 		latUpper = GPSCalculation.getLatUpper();
 		lonLeft = GPSCalculation.getLonLeft();
 		lonRight = GPSCalculation.getLonRight();
-
 	}
 	
 	private void init() {
-		hopper = new GraphHopper().forServer();
-		hopper.setOSMFile(osmFileLocation);
-
+		hopper = new GraphHopperOSM().forServer();
+		hopper.setDataReaderFile(osmFileLocation);
+		
 		// where to store graphhopper files?
 		if (uniqueFolders) {
 			Monitor.log(RealWorldStreetsMovement.class, Level.WARN,
@@ -118,12 +147,27 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 			hopper.setGraphHopperLocation(graphFolderFiles + "/"
 					+ osmFileLocation.hashCode() + movementType);
 		}
-		hopper.setEncodingManager(new EncodingManager(movementType));
-		hopper.importOrLoad();
+		hopper.setEncodingManager(EncodingManager.create(movementType));
+				
+		// if we have blocked areas defined, the CH in Graphhopper needs to be disabled!
+		// this also requires a new import 
+		if((blockedAreas != null && !blockedAreas.isEmpty()) || allowAlternativeRoutes) {		
+			hopper.setCHEnabled(false);
+		}
+		
+		// try to load a cached import. If the cached import was with a different CH_ENABLED setting then now specified, this will fail.
+		// in this case, clean cache and re-import.
+		try {
+			hopper.importOrLoad();
+		} catch (Exception e) {
+			System.err.println("[RealWorldStreetMovement] GraphHopper graph file must be imported again!");
+			hopper.clean();
+			hopper.importOrLoad();
+		}	
+		
 		index = hopper.getLocationIndex();
-
 		init = true;
-	}
+	}	
 
 	@Override
 	public Either<PositionVector, Boolean> nextPosition(
@@ -168,7 +212,22 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 					    setWeighting(navigationalType).
 					    setVehicle(movementType).
 					    setLocale(Locale.GERMANY);
-				GHResponse rsp = hopper.route(req);
+				
+				// blocks one or multiple given areas from being used by the routing
+				// https://github.com/graphhopper/graphhopper/blob/master/docs/web/api-doc.md#flexible				
+				if(blockedAreas != null && !blockedAreas.isEmpty()) {		
+					req.getHints().put(Routing.BLOCK_AREA, blockedAreas);
+				}		
+				if(allowAlternativeRoutes) {
+					// see: https://discuss.graphhopper.com/t/alternative-routes/424/11
+					req.setAlgorithm(Parameters.Algorithms.ALT_ROUTE);			
+					req.getHints().put(Parameters.Algorithms.AltRoute.MAX_WEIGHT, "2.0"); // how much longer can alternatives be?
+					req.getHints().put(Parameters.Algorithms.AltRoute.MAX_PATHS, "5"); // how much alternatives should be returned at max?					
+				}
+				
+				
+				GHResponse rsp = hopper.route(req);				
+				
 				//If the requested point is not in the map data, simple return the destination as next point
 				if(rsp.hasErrors()) {
 					Monitor.log(this.getClass(), Monitor.Level.ERROR, "Routing request for Host %s with starting point (" +
@@ -181,7 +240,20 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 					currentRoutes.put(comp, trajectory);
 
 				} else {
+					
 					PointList pointList = rsp.getBest().getPoints();
+					
+					// alternatives for routing are allowed for distances bigger than 50
+					if(allowAlternativeRoutes && rsp.hasAlternatives() && rsp.getBest().getDistance() > 50) {
+						// alternative route is taken with a certain chance
+						if(random.nextDouble() <= probabilityForAlternativeRoute) {
+							List<PathWrapper> paths = rsp.getAll();							
+							int pick = random.nextInt(paths.size() - 1) + 1;
+							pointList = rsp.getAll().get(pick).getPoints();
+						}	
+					}
+					
+					//PointList pointList = rsp.getBest().getPoints();
 
 					if (isCalculateRouteSegments()) {
 						/*
@@ -223,8 +295,9 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 			RouteSegmentImpl segment = null;
 			PointList points = instr.getPoints();
 			String name = instr.getName();
-			if (name.isEmpty()) {
-				name = Integer.toString(instr.getPoints().toGHPoint(0).hashCode());
+			if (name.isEmpty()) {				
+				name = Integer.toString(instr.getPoints().get(0).hashCode());
+				//name = Integer.toString(instr.getPoints().toGHPoint(0).hashCode());  @deprecated for old GraphHopper version
 			}
 			for (GHPoint point : points) {
 				if (segment == null) {
@@ -399,4 +472,19 @@ public class RealWorldStreetsMovement extends AbstractLocalMovementStrategy {
 	public void setCreateUniqueFolders(boolean uniqueFolders) {
 		this.uniqueFolders = uniqueFolders;
 	}
+	
+	public void setBlockedAreas(String blockedAreas) {
+		if(!blockedAreas.isEmpty()) {
+			this.blockedAreas = blockedAreas;
+		}		
+	}
+	
+	public void setAllowAlternativeRoutes(boolean allowAlternativeRoutes) {
+		this.allowAlternativeRoutes = allowAlternativeRoutes;
+	}
+	
+	public void setProbabilityForAlternativeRoute(double p) {
+		this.probabilityForAlternativeRoute = p;
+	}
+	 
 }

src/de/tud/kom/p2psim/impl/topology/movement/local/RouteImpl.java

@@ -29,7 +29,7 @@ import com.graphhopper.util.PointList;
 import com.graphhopper.util.shapes.GHPoint3D;
 
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.Location;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.route.Route;
 import de.tudarmstadt.maki.simonstrator.api.component.sensor.route.RouteSensor;

src/de/tud/kom/p2psim/impl/topology/movement/local/ShortestPathOffRoadWaypointMovement.java

@@ -23,7 +23,7 @@ package de.tud.kom.p2psim.impl.topology.movement.local;
 import java.util.List;
 
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.topology.waypoints.graph.Waypoint;
 import de.tud.kom.p2psim.impl.topology.waypoints.graph.WeakWaypoint;
 

src/de/tud/kom/p2psim/impl/topology/movement/local/ShortestPathWaypointMovement.java

@@ -24,9 +24,11 @@ import java.util.ArrayList;
 import java.util.List;
 import java.util.WeakHashMap;
 
+import org.jgrapht.graph.DefaultWeightedEdge;
+
 import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
-import de.tud.kom.p2psim.impl.topology.PositionVector;
-import de.tud.kom.p2psim.impl.topology.waypoints.graph.Path;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
+import de.tud.kom.p2psim.impl.topology.waypoints.graph.PathEdge;
 import de.tud.kom.p2psim.impl.topology.waypoints.graph.Waypoint;
 import de.tud.kom.p2psim.impl.topology.waypoints.graph.WeakWaypoint;
 import de.tud.kom.p2psim.impl.util.Either;
@@ -114,7 +116,7 @@ public class ShortestPathWaypointMovement extends AbstractLocalMovementStrategy
 		Waypoint closestWaypointToDestination = waypointModel
 				.getClosestWaypoint(finalDestination, WeakWaypoint.class);
 
-		List<Path> shortestPath = waypointModel.getShortestPath(
+		List<PathEdge> shortestPath = waypointModel.getShortestPath(
 				closestWaypointToCurrentPosition, closestWaypointToDestination);
 
 		List<Waypoint> waypointList = buildWaypointList(
@@ -133,13 +135,13 @@ public class ShortestPathWaypointMovement extends AbstractLocalMovementStrategy
 	 * @return
 	 */
 	protected List<Waypoint> buildWaypointList(Waypoint start,
-			List<Path> shortestPath) {
+			List<PathEdge> shortestPath) {
 		List<Waypoint> waypointList = new ArrayList<Waypoint>();
 
 		Waypoint lastWaypoint = start;
 		waypointList.add(start);
 
-		for (Path p : shortestPath) {
+		for (PathEdge p : shortestPath) {
 			lastWaypoint = p.getOtherEnd(lastWaypoint);
 			waypointList.add(lastWaypoint);
 		}

src/de/tud/kom/p2psim/impl/topology/movement/modularosm/GPSCalculation.java

@@ -21,6 +21,7 @@
 package de.tud.kom.p2psim.impl.topology.movement.modularosm;
 
 import de.tud.kom.p2psim.api.topology.Topology;
+import de.tud.kom.p2psim.impl.topology.util.PositionVector;
 import de.tud.kom.p2psim.impl.topology.views.VisualizationTopologyView.VisualizationInjector;
 import de.tudarmstadt.maki.simonstrator.api.Binder;
 
@@ -134,7 +135,35 @@ public class GPSCalculation {
 	public void setLonCenter(double lonCenter) {
 		this.lonCenter = lonCenter;
 	}
-
+	
+	/**
+	 * Projects the gps coordinates in the given gps window to the world-coordinates given in world-dimensions
+	 * @param lat
+	 * @param lon
+	 * @return The projected position in world-dimensions
+	 */
+	public static PositionVector transformGPSWindowToOwnWorld(double lat, double lon) {
+		double x = getWorldDimensionsX() * (lon - getLonLeft())/(getLonRight() - getLonLeft());
+		//Invert the y value, because in Java Swing we start drawing in the upper left corner instead in the lower left one
+		double y = getWorldDimensionsY() - getWorldDimensionsY() * (lat - getLatLower())/(getLatUpper() - getLatLower());
+		return new PositionVector(x, y);
+	}
+	
+	/**
+	 * Checks if the given latitute and longitude is within the simulated GPS area.
+	 * 
+	 * @param lat
+	 * @param lon
+	 * @return True if within the GPS area, false otherwise.
+	 */
+	public static boolean isWithinGPSBoundaries(double lat, double lon) {
+		if(lat > getLatLower() && lat < getLatUpper() &&
+				lon > getLonLeft() && lon < getLonRight())		{
+			return true;			
+		}		
+		else return false;
+	}
+		
 	/**
 	 * Formula http://wiki.openstreetmap.org/wiki/Zoom_levels
 	 * 

src/de/tud/kom/p2psim/impl/topology/waypoints/graph/DefaultDirectedWeightedEdgeRetrievableGraph.java → src/de/tud/kom/p2psim/impl/topology/movement/modularosm/IAttractionBasedMovementAnalyzer.java

-/*
- * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
- *
- * This file is part of PeerfactSim.KOM.
- * 
- * PeerfactSim.KOM is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * any later version.
- * 
- * PeerfactSim.KOM is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- * 
- * You should have received a copy of the GNU General Public License
- * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-package de.tud.kom.p2psim.impl.topology.waypoints.graph;
-
-import java.util.Set;
-import java.util.WeakHashMap;
-
-import org.jgrapht.EdgeFactory;
-import org.jgrapht.graph.DefaultDirectedWeightedGraph;
-
-/**
- * The simple weighted edge retrievable graph caches the edges
- * for later batch retrieval.
- * 
- * It uses the WeakHashMap to avoid unintentional references to
- * dead objects.
- * 
- * @author Fabio Zöllner
- * @version 1.0, 27.03.2012
- * @param <V> Vertices
- * @param <E> Edges
- */
-public class DefaultDirectedWeightedEdgeRetrievableGraph<V, E> extends DefaultDirectedWeightedGraph<V, E> {
-	private WeakHashMap<E, Object> edgeMap = new WeakHashMap<E, Object>();
-	
-	@SuppressWarnings("unchecked")
-	public DefaultDirectedWeightedEdgeRetrievableGraph(EdgeFactory edgefactory) {
-        super(edgefactory);
-    }
-
-    @SuppressWarnings("unchecked")
-	public DefaultDirectedWeightedEdgeRetrievableGraph(Class class1) {
-    	super(class1);
-    }
-    
-    public E addEdge(V v1, V v2) {
-        E e = getEdgeFactory().createEdge(v1, v2);
-        addEdge(v1, v2, e);
-        
-        return e;
-    }
-
-    public boolean addEdge(V v1, V v2, E e) {
-    	edgeMap.put(e, null);
-    	
-    	return super.addEdge(v1, v2, e);
-    }
-    
-    public Set<E> getAllEdges() {
-    	return edgeMap.keySet();
-    }
-}
+/*
+ * Copyright (c) 2005-2010 KOM – Multimedia Communications Lab
+ *
+ * This file is part of PeerfactSim.KOM.
+ * 
+ * PeerfactSim.KOM is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * any later version.
+ * 
+ * PeerfactSim.KOM is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with PeerfactSim.KOM.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+package de.tud.kom.p2psim.impl.topology.movement.modularosm;
+
+import java.util.Set;
+
+import de.tud.kom.p2psim.api.topology.movement.SimLocationActuator;
+import de.tudarmstadt.maki.simonstrator.api.component.core.MonitorComponent.Analyzer;
+import de.tudarmstadt.maki.simonstrator.api.component.sensor.location.IAttractionPoint;
+
+public interface IAttractionBasedMovementAnalyzer extends Analyzer {
+
+	public void onAllNodeInitializationCompleted(Set<SimLocationActuator> nodes);
+	
+	public void onAttractionPointAdded(IAttractionPoint attractionpoint);
+	
+	public void onAttractionPointRemoved(IAttractionPoint attractionpoint);
+	
+	public void onUpdateAttractionAssignment(SimLocationActuator node, IAttractionPoint attractionpoint);
+	
+	
+	public void onNodeReachedAttractionPoint(SimLocationActuator node, IAttractionPoint attractionpoint);
+	
+}